High-precision lightweight three-degree-of-freedom mechanical arm

Abstract

The utility model relates to a high-precision lightweight three-degree-of-freedom mechanical arm. The high-precision lightweight three-degree-of-freedom mechanical arm comprises a base, a high-precision linear module, a rotary motion mechanism and a pitching motion mechanism. The high-precision linear module is fixedly installed through the base, the rotary motion mechanism is connected to one end of the linear module, and the pitching motion mechanism is connected to the rotary motion mechanism through the adapter frame. Under the driving of the servo motor, the linear module drives the rotary movement mechanism and the pitching movement mechanism to move in the vertical direction, and meanwhile, the rotary movement mechanism and the pitching movement mechanism achieve rotary movement in the horizontal plane and the vertical plane respectively. The mechanical arm has the characteristics of light weight, high precision and simple structure. By using the absolute value encoder and the tilt angle sensor, the mechanical arm can monitor and control the motion posture in real time, and high-precision motion control is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of robotic arms and relates to a high-precision and lightweight three-degree-of-freedom robotic arm. Background Art

[0002] With the continuous development of automation technology, robotic arms have been widely used in industrial, medical, service and other fields. Traditional robotic arms usually consist of multiple joints, each of which is driven by a motor and transmits power through a reducer to achieve the rotation and movement of each joint. The design of these robotic arms often pursues high precision, high load capacity and high rigidity. However, the existing robotic arm structures have the following main problems:

[0003] 1. Large overall weight: Existing high-precision robotic arms usually adopt complex frame structures and heavy materials to ensure the stability and load capacity of the system. To achieve high-precision motion control, these robotic arms are often equipped with multiple high-precision reducers, servo motors and other heavy components. This results in a large overall weight, which not only increases the material cost and energy consumption, but also poses higher requirements for the installation and use environment.

[0004] 2. Complex drive system: Existing robotic arms usually adopt the method of combining servo motors with reducers for drive control. To ensure the accuracy and dynamic response of the system, precise tuning of the motors and reducers is required, and a complex control system is configured. This not only increases the design and manufacturing difficulty, but also raises the maintenance cost and failure rate.

[0005] 3. High manufacturing cost: Due to the high-precision and high-rigidity requirements of robotic arms, high-precision reducers, high-performance servo motors and complex control systems are widely used in the existing technology. The cost of these key components is relatively high, resulting in a high manufacturing cost of the entire robotic arm system and making it difficult to be popularized and applied on a large scale. Content of the Utility Model

[0006] In view of this, the purpose of the utility model is to solve the above problems and provide a high-precision and lightweight three-degree-of-freedom robotic arm, which has a simple structure, convenient configuration, convenient control system design, light overall weight and low production cost.

[0007] To achieve the above purpose, the utility model provides the following technical solutions:

[0008] A high-precision lightweight three-degree-of-freedom robotic arm, comprising a base, a high-precision linear module, a rotational motion mechanism, and a pitching motion mechanism; the high-precision linear module is disposed on the base and fixedly installed through the base; the rotational motion mechanism is connected to one end of the high-precision linear module, and the pitching motion mechanism is connected to the rotational motion mechanism through an adapter bracket; the rotational motion mechanism and the pitching motion mechanism perform linear motion in the vertical direction under the drive of the high-precision linear module; the rotational motion mechanism takes the vertical direction as the center of rotation and drives the pitching motion mechanism to perform rotational motion on the horizontal plane. At the same time, the pitching motion mechanism itself performs rotational motion, and the center of rotation is on the horizontal plane.

[0009] Further, the high-precision linear module includes an aluminum alloy bracket, a roller screw, a nut, and a servo motor; the servo motor is installed at one end of the aluminum alloy bracket, and the rotational motion mechanism is connected to the other end of the aluminum alloy bracket; the nut is fixed on the base, and the aluminum alloy bracket is slidably matched with the base; the servo motor is connected to the roller screw to drive the roller screw to rotate, and the ball screw and the nut are cooperated through a threaded roller to achieve linear movement and drive the aluminum alloy bracket and the nut to form a vertical displacement.

[0010] Further, a linear grating ruler corresponding to the base is provided on the aluminum alloy bracket.

[0011] Further, a controller and cables are provided on the side of the aluminum alloy bracket facing away from the roller screw, and the cables are connected to the base through a cable carrier.

[0012] Further, both the rotational motion mechanism and the pitching motion mechanism are torque motors and are equipped with absolute encoders.

[0013] Further, a two-axis inclination sensor is provided on the base for monitoring the angular attitude of the entire robotic arm.

[0014] The beneficial effects of the present utility model are as follows:

[0015] 1. The present utility model simplifies the transmission structure of the robotic arm and reduces the use of multiple reducers and complex transmission mechanisms in traditional robotic arms. By directly driving the rotation and pitching motions through torque motors, the cumulative errors of various components in the transmission chain are avoided, and the maintenance difficulty and failure rate are reduced.

[0016] 2. The utility model adopts a lightweight design and a simplified drive system, significantly reducing the manufacturing cost of the robotic arm. The use of aluminum alloy materials not only reduces the material cost but also lowers the processing difficulty. In addition, the utility model abandons the traditional high-precision speed reducer and replaces it with a high-performance torque motor and a precision roller screw system, which not only reduces the procurement cost of key components but also decreases the time cost of production and debugging, making the overall manufacturing cost more economical.

[0017] 3. The utility model is equipped with an inclination sensor and a linear grating scale, enabling the robotic arm to monitor the angular posture and the accuracy of linear motion in real time. The data of these sensors are combined with the control systems of the torque motor and the servo motor to achieve the efficient control and precise positioning of the robotic arm, further enhancing the working performance and reliability of the system.

[0018] Other advantages, objectives, and features of the utility model will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the utility model. The objectives and other advantages of the utility model can be realized and obtained through the following specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the objectives, technical solutions, and advantages of the utility model clearer, the utility model will be described in detail preferably with reference to the accompanying drawings, where:

[0020] Figure 1 is a schematic structural diagram of the high-precision lightweight three-degree-of-freedom robotic arm in the utility model.

[0021] Figure 2 is a perspective view of the high-precision lightweight three-degree-of-freedom robotic arm in the utility model.

[0022] Figure 3 is a schematic diagram of the principle of the utility model.

[0023] Reference numerals: 1 - high-precision linear module; 2 - cable carrier; 3 - two-axis inclination sensor; 4 - base; 5 - rotational motion mechanism; 6 - pitching motion mechanism; 7 - adapter bracket. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following specific examples are used to illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model. It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present utility model. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0025] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams rather than physical diagrams, and should not be construed as a limitation to the present utility model; in order to better illustrate the embodiments of the present utility model, some components in the drawings will be omitted, enlarged or reduced, which does not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0026] In the drawings of the embodiments of the present utility model, the same or similar reference numerals correspond to the same or similar components; in the description of the present utility model, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation to the present utility model. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] Please refer to Figures 1 to 3 , which is a high-precision lightweight three-degree-of-freedom robotic arm, including a base 4, a high-precision linear module 1, a rotational motion mechanism 5, and a pitching motion mechanism 6; the high-precision linear module 1 is installed on the base 4 and is fixedly installed through the base 4; the base 4 is installed on a certain fixing mechanism through mechanisms such as the upper support rod or mounting flange. The rotational motion mechanism 5 is connected to one end of the high-precision linear module, and the pitching motion mechanism 6 is connected to the rotational motion mechanism 5 through an adapter bracket 7; the rotational motion mechanism 5 and the pitching motion mechanism 6 move linearly in the vertical direction under the drive of the high-precision linear module 1; the rotational motion mechanism 5 takes the vertical direction as the rotation center and drives the pitching motion mechanism 6 to rotate on the horizontal plane. At the same time, the pitching motion mechanism 6 rotates itself, and the rotation center is on the horizontal plane.

[0028] The high-precision linear module 1 includes an aluminum alloy bracket, a roller screw, a nut, and a servo motor; the servo motor is installed at one end of the aluminum alloy bracket, and the rotary motion mechanism 5 is connected to the other end of the aluminum alloy bracket; the nut is fixed on the base 4, and the aluminum alloy bracket and the base 4 are slidably matched; the servo motor is connected to the roller screw to drive the roller screw to rotate, and the ball screw and the nut are matched through the threaded roller to achieve linear movement and drive the aluminum alloy bracket and the nut to form a vertical displacement. In order to reduce weight, the aluminum alloy bracket adopts a single bracket structure, and the roller screw is selected to be high-precision. At the same time, a linear grating ruler corresponding to the base 4 is installed on the side of the aluminum alloy bracket for position feedback to ensure that the axial positioning accuracy reaches ±0.01mm.

[0029] A controller and cables are installed on the side of the aluminum alloy bracket facing away from the roller screw. The cables are connected to the base 4 through the tank drag chain 2, which can effectively arrange the control signal lines and power lines to achieve regular and orderly movement and avoid problems such as wire entanglement.

[0030] The rotation mechanism 5 and the pitch movement mechanism 6 are both torque motors and are equipped with absolute encoders, which can control the rotation accuracy to 5 Arc sec.

[0031] A two-axis inclination sensor 3 is mounted on the base 4 to measure the inclination of the entire robotic arm when it is installed and to monitor the angle posture of the entire robotic arm.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the utility model.

Claims

1. A high-precision lightweight three-degree-of-freedom robotic arm, characterized in that: It includes a base, a high-precision linear module, a rotational motion mechanism, and a pitching motion mechanism; the high-precision linear module is arranged on the base and fixedly installed by the base; the rotational motion mechanism is connected to one end of the high-precision linear membrane group, and the pitching motion mechanism is connected to the rotational motion mechanism through an adapter frame; the rotational motion mechanism and the pitching motion mechanism move linearly in the vertical direction under the drive of the high-precision linear module; the rotational motion mechanism takes the vertical direction as the rotation center, and drives the pitching motion mechanism to rotate on the horizontal plane. At the same time, the pitching motion mechanism itself rotates, and the rotation center is on the horizontal plane.

2. The high-precision lightweight three-degree-of-freedom robotic arm according to claim 1, wherein: The high-precision linear module includes an aluminum alloy bracket, a roller screw, a nut, and a servo motor; the servo motor is installed at one end of the aluminum alloy bracket, and the rotary motion mechanism is connected to the other end of the aluminum alloy bracket; the nut is fixed on the base, and the aluminum alloy bracket and the base are slidably matched; the servo motor is connected to the roller screw to drive the roller screw to rotate, and the roller screw and the nut are matched through threaded rollers to achieve linear movement, and drive the aluminum alloy bracket and the nut to form vertical displacement.

3. The high-precision lightweight three-degree-of-freedom robotic arm according to claim 2, characterized in that: The aluminum alloy bracket is provided with a linear grating scale corresponding to the base.

4. The high-precision lightweight three-degree-of-freedom robotic arm according to claim 3, wherein: A controller and a cable are provided on the side of the aluminum alloy bracket facing away from the roller screw, and the cable is connected to the base through a tank drag chain.

5. The high-precision lightweight three-degree-of-freedom robotic arm according to claim 1, wherein: The rotating motion mechanism and the pitching motion mechanism are both torque motors and are equipped with absolute value encoders.

6. The high-precision lightweight three-degree-of-freedom robotic arm according to claim 1, wherein: A two-axis inclination sensor is provided on the base for monitoring the angle posture of the entire robotic arm.

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